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planeModel

Object for storing parametric plane model

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Description

Construct and store a parametric plane model based on parameters that describe a plane.

Creation

Syntax

model = planeModel(parameters)

Description

model = planeModel(parameters) constructs a parametric plane model from the 1-by-4 Parameters input vector that describes a plane.

example

Input Arguments

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Plane parameters, specified as a 1-by-4 vector. This input specifies the Parameters property. The four parameters [a,b,c,d] describe the equation for a plane:

ax+by+cz+d=0

Properties

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These properties are read-only.

Plane model parameters, stored as a 1-by-4 vector. These parameters are specified by the parameters input argument.

Normal vector of the plane, stored as a 1-by-3 vector. The [a,b,c] vector specifies the unnormalized normal vector of the plane.

Object Functions

plotPlot parametric model
normalRotationCompute transform for rotation of normal to plane

Examples

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Open Live Script

Load the point cloud.

load("object3d.mat")

Display the point cloud and label the figure.

figure
pcshow(ptCloud)
xlabel("X(m)")
ylabel("Y(m)")
zlabel("Z(m)")
title("Original Point Cloud")

Set the maximum point-to-plane distance (2cm) for plane fitting.

maxDistance = 0.02;

Set the normal vector of the plane.

referenceVector = [0,0,1];

Set the maximum angular distance to 5 degrees.

maxAngularDistance = 5;

Detect the first plane, the table, and extract it from the point cloud.

[model1,inlierIndices,outlierIndices] = pcfitplane(ptCloud,...
            maxDistance,referenceVector,maxAngularDistance);
plane1 = select(ptCloud,inlierIndices);
remainPtCloud = select(ptCloud,outlierIndices);

Set the region of interest to constrain the search for the second plane, left wall.

roi = [-inf,inf;0.4,inf;-inf,inf];
sampleIndices = findPointsInROI(remainPtCloud,roi);

Detect the left wall and extract it from the remaining point cloud.

[model2,inlierIndices,outlierIndices] = pcfitplane(remainPtCloud,...
            maxDistance,SampleIndices=sampleIndices);
plane2 = select(remainPtCloud,inlierIndices);
remainPtCloud = select(remainPtCloud,outlierIndices);

Plot the two planes and the remaining points.

figure
pcshow(plane1)
title("First Plane")

figure
pcshow(plane2)
title("Second Plane")

figure
pcshow(remainPtCloud)
title("Remaining Point Cloud")

Version History

Introduced in R2015b

See Also

Objects

Functions

Topics